#pragma once

#include "search_algorithm.hpp"

class AStarAlgorithm : public SearchAlgorithm
{
public:
    std::vector<Point> search(std::vector<std::vector<int>> &grid, Point start, Point end, cv::Mat &image, int occ_size) override;

private:
    int heuristic(const Point &a, const Point &b);
};